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## title = Getting Start with RTM-ROS system
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## description = This tutorials show how to work with rtmros system using HiroNx robot
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## next.0.link= [[rtmros_common/Tutorials/WorkingWithEusLisp| Using EusLisp (roseus) to control rtmtros robots]]
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<<TableOfContents(4)>>

== Install (12.04 Ubuntu) ==
Install ROS system, See http://wiki.ros.org/hydro/Installation/Ubuntu

{{{
sudo apt-get install ros-hydro-hrpsys-ros-bridge ros-hydro-hironx-moveit-config
}}}
=== Trouble shooting in installation ===
If you have already source of rtm-ros-robotics samples, please remove or move these source directories. For example,

{{{
rm -fr ~/ros/hydro/src/rtm-ros-robotics/rtmros_common ~/ros/hydro/src/rtm-ros-robotics/openrtm_common
}}}
Please specify your catkin workspace such as ~/ros/hydro/src including rtmros_common and openrtm_common repositories.

If you have already built these source repositories, please remove these. For example,

{{{
rm -fr ~/ros/hydro/build ~/ros/hydro/devel ~/ros/hydro/install
}}}

When you asked question, following diagnostics tools may help to get full information of your system
{{{
curl -sL https://raw.github.com/start-jsk/rtmros_common/master/hrpsys_tools/scripts/rtmroswtf.sh  | bash
}}}
== Try Demo Program ==
=== Biped Robot ===
Open Terminal and run robot

{{{
rtmlaunch hrpsys_ros_bridge samplerobot.launch
}}}
Then, launch another terminal and make a robot walk

{{{
rosrun hrpsys_ros_bridge test-samplerobot.py
}}}
{{http://wiki.ros.org/rtmros_common/Tutorials/GettingStart?action=AttachFile&do=get&target=samplerobot_ros_bridge.png|sample robot in hrpsys and rviz|width="640"}}

=== Manipulation Robot ===
Open Terminal and run robot

{{{
rtmlaunch hironx_ros_bridge hironx_ros_bridge_simulation.launch
}}}
Then, launch another terminal and play with MoveIt!

{{{
roslaunch hironx_moveit_config moveit_planning_execution.launch
}}}

== System Overview ==
[[https://docs.google.com/drawings/d/1ZfQg4EHrGAC7fvHEWLVQxxjBbdmWLu9tMwqmFhb1eQo/edit?usp=sharing|{{https://docs.google.com/drawings/d/1ZfQg4EHrGAC7fvHEWLVQxxjBbdmWLu9tMwqmFhb1eQo/pub?w=960&amp;h=720|https://docs.google.com/drawings/d/1ZfQg4EHrGAC7fvHEWLVQxxjBbdmWLu9tMwqmFhb1eQo/edit?usp=sharing}}]] To learn about hrpsys_ros_bridge system, please see https://github.com/start-jsk/rtmros_common/tree/master/hrpsys_ros_bridge#.

See [[rtmros_nextage/Tutorials/Programming_Hiro_NEXTAGE_OPEN_GUI]], to see how to play with MoveIt GUI.

See [[rtmros_nextage/Tutorials]] for more information on rtmros-system with HiroNX and Nextage robots.

=== System's Source-code ===

'''hrpsys (OpenRTM 's robot control)'''

{{{
cd ~/ros/${ROS_DISTRO}_parent/src/hrpsys
}}}
Please see [[https://github.com/fkanehiro/hrpsys-base hrpsys-base]].

'''hrpsys interface for ros'''

{{{
cd `rospack find hrpsys_ros_bridge`
}}}
Please see [[https://github.com/start-jsk/rtmros_common/tree/master/hrpsys_ros_bridge hrpsys_ros_bridge]].

'''hrpsys interface for euslisp via ros'''

{{{
cd `rospack find hrpsys_ros_bridge`
}}}
Please see [[https://github.com/start-jsk/rtmros_common/tree/master/hrpsys_ros_bridge hrpsys_ros_bridge]] and go to Euslisp section.

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